CN112643695A - Mechanical gripper capable of adjusting number of clamping jaws - Google Patents
Mechanical gripper capable of adjusting number of clamping jaws Download PDFInfo
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- CN112643695A CN112643695A CN202011425320.3A CN202011425320A CN112643695A CN 112643695 A CN112643695 A CN 112643695A CN 202011425320 A CN202011425320 A CN 202011425320A CN 112643695 A CN112643695 A CN 112643695A
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- arc
- groove
- shaped block
- shaft
- block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
Abstract
The invention discloses a mechanical claw with the number of clamping jaws adjustable, which comprises an end part of a mechanical arm and an end shell, wherein a cavity is arranged in the end shell; the switching assembly comprises a first arc-shaped block, a second arc-shaped block and a third arc-shaped block, wherein the first arc-shaped block is arranged between the supporting shaft and the end shell and is connected with the supporting shaft and the end shell; side ring grooves are formed in the positions, corresponding to the first arc-shaped blocks, of the inner wall of the end shell, and the outer side surfaces of the second arc-shaped block and the third arc-shaped block are embedded in the side ring grooves; a fourth arcuate block disposed in the cavity; the clamping assembly comprises a replacing piece and a clamping jaw, the clamping jaw is connected with the switching assembly shaft, the replacing piece is connected with the end part of the end shell, and a driving piece is arranged on the replacing piece and connected with the clamping jaw; the mechanical claw can adjust the number of the claws to adapt to the shape of the grabbed object.
Description
Technical Field
The invention relates to the technical field of mechanical devices, in particular to a mechanical claw with the number of claws adjustable.
Background
The mechanical claw is a high-precision and high-speed dispensing mechanical hand, and is a complex system with multiple inputs and outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection.
The mechanical claw is usually used for grabbing objects, and especially plays a role of being unavailable in an automatic production line, when the objects are grabbed in a production line, the shape of some objects can cause that the mechanical claw is difficult to grab the objects with the current claw number, for example, square objects, and the mechanical claw with three claws is difficult to grab, so that a mechanical claw convenient for replacing the claw number needs to be designed to meet the grabbing requirement of the objects on the production line.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments, and in this section as well as in the abstract and the title of the invention of this application some simplifications or omissions may be made to avoid obscuring the purpose of this section, the abstract and the title of the invention, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made keeping in mind the above problems occurring in the prior art and/or the problems occurring in the prior art.
Therefore, the technical problem to be solved by the invention is that the number of the claws of the existing robot arm is inconvenient to be properly converted along with the change of the shape of the grabbed object.
In order to solve the technical problems, the invention provides the following technical scheme: a mechanical claw with adjustable claw number comprises,
the end part of the mechanical arm comprises an end shell, a cavity is arranged in the end shell, a support shaft is arranged in the middle of the interior of the end shell, and the support shaft and the end shell are coaxially arranged;
the switching assembly comprises a first arc-shaped block, a second arc-shaped block and a third arc-shaped block, wherein the first arc-shaped block is arranged between the supporting shaft and the end shell and is connected with the supporting shaft and the end shell;
side ring grooves are formed in the positions, corresponding to the first arc-shaped blocks, of the inner wall of the end shell, and the outer side surfaces of the second arc-shaped block and the third arc-shaped block are embedded in the side ring grooves;
a fourth arcuate block disposed in the cavity;
the clamping assembly comprises a replacing piece and a clamping jaw, the clamping jaw is connected with the switching assembly shaft, the replacing piece is connected with the end part of the end shell, and a driving piece is arranged on the replacing piece and connected with the clamping jaw.
As a preferable aspect of the gripper with adjustable number of jaws of the present invention, wherein: the jack catch includes linkage segment and centre gripping section, linkage segment and centre gripping section become the obtuse angle and connect, the linkage segment tip is provided with the trepanning.
As a preferable aspect of the gripper with adjustable number of jaws of the present invention, wherein: the first arc-shaped block, the second arc-shaped block, the third arc-shaped block and the fourth arc-shaped block are all provided with a lock catch assembly, the lock catch assembly comprises a middle groove, a first top groove and a second top groove, the first top groove and the second top groove are symmetrically arranged on two sides of the middle groove, the first top groove is communicated with the middle groove through a first round hole, and the second top groove is communicated with the middle groove through a second round hole.
As a preferable aspect of the gripper with adjustable number of jaws of the present invention, wherein: the lock catch assembly further comprises a first inserting shaft and a second inserting shaft, the first inserting shaft is arranged in the first round hole, and the end part of the first inserting shaft is connected with the end face of the first top groove through a first pressure spring;
the second inserting shaft is arranged in the second round hole, and the end part of the second inserting shaft is connected with the end surface of the first top groove through a second pressure spring;
the first insert shaft and the second insert shaft are in end face contact.
As a preferable aspect of the gripper with adjustable number of jaws of the present invention, wherein: one end of the first inserting shaft is also provided with a first touch block, and the first touch block is arranged in the first top groove;
and a second touch block is further arranged at one end of the second inserting shaft and arranged in the second top groove.
As a preferable aspect of the gripper with adjustable number of jaws of the present invention, wherein: the connecting section end is arranged in the middle groove, and the first inserting shaft and the second inserting shaft are arranged at the ends in the trepanning.
As a preferable aspect of the gripper with adjustable number of jaws of the present invention, wherein: the second arc piece lateral surface is provided with first outer fishplate bar, third arc piece lateral surface is provided with the outer fishplate bar of second, first outer fishplate bar and the outer fishplate bar of second set up in the side annular.
As a preferable aspect of the gripper with adjustable number of jaws of the present invention, wherein: a first curved groove and a first limiting groove are formed in the first arc-shaped block, and the first curved groove is communicated with the first limiting groove and the outside.
As a preferable aspect of the gripper with adjustable number of jaws of the present invention, wherein: the self-adjusting part comprises a fan plate, a crankshaft arranged on the side surface of the fan plate and an end plate arranged at the end part of the crankshaft;
the crankshaft is matched with the first curved groove in size, and the end plate is matched with the first limiting groove in size;
the outer side face of the fan plate is further provided with a third external connection plate, and the third external connection plate is arranged in the side ring groove.
As a preferable aspect of the gripper with adjustable number of jaws of the present invention, wherein: the bent axle set up in the first bent groove, the end plate set up in the first spacing groove, the end plate tip is provided with the spring, connects first spacing inslot bottom.
The invention has the beneficial effects that: the mechanical claw can adjust the number of the claws to adapt to the shape of the grabbed object.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
fig. 1 is a schematic view of an overall structure of a mechanical gripper with an adjustable number of jaws according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a partial explosion structure of a gripper with an adjustable number of jaws according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an overall explosion structure of a mechanical gripper with an adjustable number of jaws according to an embodiment of the present invention;
fig. 4 is a schematic view of an overall structure of a gripper with an adjustable number of jaws according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a partial explosion structure of a gripper with an adjustable number of jaws according to an embodiment of the present invention;
fig. 6 is a schematic cross-sectional view illustrating a first circular hole and a second circular hole of the gripper with adjustable number of jaws according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Next, the present invention will be described in detail with reference to the drawings, wherein the cross-sectional views illustrating the structure of the device are not enlarged partially according to the general scale for convenience of illustration when describing the embodiments of the present invention, and the drawings are only examples, which should not limit the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Example 1
Referring to fig. 1 to 6, the present embodiment provides a gripper with an adjustable number of jaws, including,
the mechanical arm end part 100 comprises an end shell 101, a cavity 106 is formed in the end shell 101, a support shaft 103 is arranged in the middle of the interior of the end shell 101, and the support shaft 103 and the end shell 101 are coaxially arranged;
the switching assembly 200 comprises a first arc-shaped block 102, a second arc-shaped block 201 and a third arc-shaped block 202, wherein the first arc-shaped block 102 is arranged between the support shaft 103 and the end shell 101 and is used for connecting the support shaft 103 and the end shell 101;
a side ring groove 104 is formed in the inner wall of the end shell 101 corresponding to the first arc-shaped block 102, and the outer side surfaces of the second arc-shaped block 201 and the third arc-shaped block 202 are embedded in the side ring groove 104;
a fourth arcuate block 300, the fourth arcuate block 203 disposed in the cavity 106;
the clamping assembly 500 comprises a displacement piece 501 and a clamping jaw 502, the clamping jaw 502 is connected with the switching assembly 200 through a shaft, the displacement piece 501 is connected with the end part of the end shell 101, and a driving piece 503 is arranged on the displacement piece 501 and connected with the clamping jaw 502.
The pawl 502 comprises a connecting section 502a and a clamping section 502b, the connecting section 502a and the clamping section 502b are connected at an obtuse angle, and the end of the connecting section 502a is provided with a trepan 502 c.
The first arc-shaped block 102, the second arc-shaped block 201, the third arc-shaped block 202 and the fourth arc-shaped block 300 are all provided with a lock catch assembly 600, the lock catch assembly 600 comprises a middle-arranged groove 601, a first top groove 602 and a second top groove 603 which are symmetrically arranged at two sides of the middle-arranged groove 601, the first top groove 602 is communicated with the middle-arranged groove 601 through a first round hole 604, and the second top groove 603 is communicated with the middle-arranged groove 601 through a second round hole 605.
The lock catch assembly 600 further comprises a first inserting shaft 606 and a second inserting shaft 607, the first inserting shaft 606 is arranged in the first round hole 604, and the end of the first inserting shaft 606 is connected with the end face of the first top groove 602 through a first pressure spring 606 a;
the second inserting shaft 607 is arranged in the second round hole 605, and the end part of the second inserting shaft 607 is connected with the end surface of the first top groove 602 through a second pressure spring 607 a;
the first shaft 606 and the second shaft 607 are in end-face contact.
A first contact block 606b is further arranged at one end of the first plug shaft 606, and the first contact block 606b is arranged in the first top groove 602;
one end of the second shaft 607 is further provided with a second contact block 607b, and the second contact block 607b is disposed in the second top groove 603.
The connecting section 502a is disposed in the central slot 601 at an end thereof, and the first and second spigots 606, 607 are disposed in the end thereof in the sleeve hole 502 c.
The outer side surface of the second arc-shaped block 201 is provided with a first outer connecting plate 201a, the outer side surface of the third arc-shaped block 202 is provided with a second outer connecting plate 202a, and the first outer connecting plate 201a and the second outer connecting plate 202a are arranged in the side ring grooves 104.
A first curved groove 102a and a first limiting groove 102b are arranged in the first arc-shaped block 102, and the first curved groove 102a is communicated with the first limiting groove 102b and the outside.
The self-adjusting part 400 comprises a fan plate 401, a crankshaft 402 arranged on the side surface of the fan plate 401, and an end plate 403 arranged at the end part of the crankshaft 402;
the crankshaft 402 is matched with the first curved groove 102a in size, and the end plate 403 is matched with the first limiting groove 102b in size;
the outer side surface of the fan plate 401 is further provided with a third outer connecting plate 405, and the third outer connecting plate 405 is arranged in the side ring groove 104.
The crankshaft 402 is disposed in the first curved groove 102a, the end plate 403 is disposed in the first limit groove 102b, and the end of the end plate 403 is disposed with a spring 404 connected to the bottom of the first limit groove 102 b.
The second panel 302 passes through the second vertical slot 101a, and the end of the second panel 302 is provided with a cleat 303.
It should be noted that the end housing 101 is a circular tube structure, the support shaft 103 is coaxially disposed in the end housing 101, a cavity 106 is formed between the support shaft 103 and the end housing 101, and the first arc block 102, the second arc block 201, the third arc block 202 and the fourth arc block 300 are all located in the cavity 106.
And the inner side surfaces of the first arc-shaped block 102, the second arc-shaped block 201, the third arc-shaped block 202 and the fourth arc-shaped block 300 are all attached to the support shaft 103, and the outer side surfaces of the first arc-shaped block 102, the second arc-shaped block 201, the third arc-shaped block 202 and the fourth arc-shaped block 300 are all attached to the inner side wall of the end shell 101.
The outer side surface of the second arc-shaped block 201 is provided with a first outer connecting plate 201a, the outer side surface of the third arc-shaped block 202 is provided with a second outer connecting plate 202a, and the first outer connecting plate 201a and the second outer connecting plate 202a are arranged in the side ring grooves 104.
A first curved groove 102a and a first limiting groove 102b are arranged in the first arc-shaped block 102, and the first curved groove 102a is communicated with the first limiting groove 102b and the outside;
a second curved groove 201b and a second limiting groove 201c are arranged in the second arc-shaped block 201, and the second curved groove 201b is communicated with the second limiting groove 201c and the outside;
a third curved groove 202b and a third limiting groove 202c are arranged in the third arc-shaped block 202, and the third curved groove 202b is communicated with the third limiting groove 202c and the outside.
The first curved groove 102a and the first limit groove 102b are arranged along the same circumferential direction, and the first curved groove 102a and the first limit groove 102b are arranged in the first arc-shaped block 102 in pairs and are arranged at two sides of the first arc-shaped block 102;
the second curved groove 201b and the second limiting groove 201c are arranged along the same circumferential direction, and the second curved groove 201b and the second limiting groove 201c are arranged in the second arc-shaped block 201 in pairs and are arranged at two sides of the second arc-shaped block 201;
the third curved groove 202b and the third limiting groove 202c are arranged along the same circumferential direction, and the third curved groove 202b and the third limiting groove 202c are arranged in pairs in the third arc-shaped block 202 and are arranged at two sides of the third arc-shaped block 202;
the second arc-shaped block 201 and the third arc-shaped block 202 are identical in structure and size as a whole.
The first curved groove 102a, the second curved groove 201b and the third curved groove 202b have the same size and structure, the third limiting groove 202c, the second limiting groove 201c and the first limiting groove 102b have the same size and structure,
a first vertical groove 103a is axially formed in the support shaft 103, a first panel 301 is axially formed on the inner side surface of the fourth arc-shaped block 300, and the first panel 301 is arranged in the first vertical groove 103 a;
the housing 101 is provided with a second vertical groove 101a, the second vertical groove 101a is communicated with the side ring groove 104, the outer side of the fourth arc-shaped block 300 is provided with a second embedded plate 302, and the second embedded plate 302 is arranged in the second vertical groove 101 a.
The first pane 301 cooperates with the first vertical slot 103a, the first pane 301 being slidable within the first vertical slot 103 a.
The second pane 302 cooperates with the second vertical slot 101a, the second pane 302 being slidable in the second vertical slot 101 a.
Preferably, the first vertical groove 103a and the second vertical groove 101a are corresponding in position, that is, the first vertical groove 103a and the second vertical groove 101a are overlapped in a radial direction when viewed from a top view.
The second panel 302 passes through the second vertical slot 101a, and the end of the second panel 302 is provided with a cleat 303.
The self-adjusting part 400 comprises a fan plate 401, a crankshaft 402 arranged on the side surface of the fan plate 401, and an end plate 403 arranged at the end part of the crankshaft 402;
the crankshaft 402 is matched with the first curved groove 102a in size, and the end plate 403 is matched with the first limiting groove 102b in size;
the outer side surface of the fan plate 401 is further provided with a third outer connecting plate 405, and the third outer connecting plate 405 is arranged in the side ring groove 104.
The axial direction of the crankshaft 402 and the end plate 403 is the circumferential direction of a circle having the same radius as the first curved groove 102a and the first stopper groove 102 b; the crankshaft 402 is disposed in the first curved groove 102a, and the end plate 403 is disposed in the first stopper groove 102b, so that the self-aligning member 400 can move in the axial direction of the first curved groove 102 a.
The inner side surface of the fan plate 401 is attached to the support shaft 103, and the outer side surface is attached to the inner side wall of the casing 101.
The crankshaft 402 is disposed in the first curved groove 102a, the end plate 403 is disposed in the first limit groove 102b, and the end of the end plate 403 is disposed with a spring 404 connected to the bottom of the first limit groove 102 b.
Similarly, the crankshaft 402 is also arranged in the second curved groove 201b, the end plate 403 is arranged in the second limiting groove 201c, and the end of the end plate 403 is provided with a spring 404 connected with the bottom in the second limiting groove 201 c;
the crankshaft 402 is also arranged in the third curved groove 202b, the end plate 403 is arranged in the third limiting groove 202c, and the end of the end plate 403 is provided with a spring 404 connected with the bottom in the third limiting groove 202 c;
in the present embodiment, the first arc-shaped block 102 is fixed in position, and the second arc-shaped block 201 and the third arc-shaped block 202 can rotate along the side annular groove 104, that is, circumferentially around the support shaft 103, by the embedding structure of the first outer plate 201a and the second outer plate 202a in the side annular groove 104.
The fan plate 401 is inserted into the side annular groove 104 through a third external connection plate 405 disposed at an outer side surface thereof, and is rotated in a circumferential direction along the side annular groove 104, that is, around the support shaft 103.
It should be noted that the outer side surface of the fan plate 401 is provided with a non-slip convex portion for controlling the rotation of the fan plate 401 around the support shaft 103 from the outside of the housing 101.
The invention has the advantages that the number of the clamping jaws 502 in the clamping assembly 500 can be quickly switched through change, for example, in the embodiment, the clamping jaws 502 can be switched between three clamping jaws and four clamping jaws, fig. 1 shows a structural schematic diagram of three clamping jaws 502, fig. 4 shows a structural schematic diagram of 4 clamping jaws 502, and the number of the clamping jaws 502 is converted through adaptive conversion of the exchange piece 501, so that the mechanical arm can adapt to the shape of an object, is convenient to grab, for example, a square object is grabbed, and the state of three clamping jaws 502 is difficult to grab and is converted into the state of four clamping jaws for grabbing.
Specifically, the conversion process from the three-jaw column to the four-jaw column is as follows, when the three-jaw column is in the three-jaw column, referring to fig. 1, the first arc-shaped block 102 is in a fixed position, the second arc-shaped block 201 and the third arc-shaped block 203 are in positions corresponding to the side annular groove 104 and can rotate around the support shaft 103 in the circumferential direction, the fourth arc-shaped block 300 is not in a position corresponding to the side annular groove 104, the first panel 301 on the fourth arc-shaped block 300 is arranged in the first vertical groove 103a, the second panel 302 is arranged in the second vertical groove 101a, and at this time, the fourth arc-shaped block 300 can move axially along the support shaft 103.
At this time, the fan plate 401 on one side of the first arc-shaped block 102 and the fan plate 401 on one side of the third arc-shaped block 203 are shifted in opposite directions, that is, the fan plate 401(1) and the fan plate 401(2) in fig. 2, so that the second arc-shaped block 201 and the third arc-shaped block 203 rotate and move towards the first arc-shaped block 102, the part of the crankshaft 402 extending from the fan plates is compressed into the first arc-shaped block 102, the second arc-shaped block 201 and the third arc-shaped block 203, a position capable of accommodating the fourth arc-shaped block 300 is formed in the hollow cavity 106, and the fourth arc-shaped block 300 is moved to the vacant position at this time, so that a clamping assembly with four clamping jaws 502 is formed.
It should be noted that the replacement part 501 is sleeved on the end of the end shell 101, and is condensed by a snap-fit and detachable connection structure, such as a snap-fit connection; in the three-jaw state, the displacement member 501 is provided with three driving members 503 for coagulating three jaws 502 in a one-to-one correspondence. In the four-jaw state, the displacement member 501 is replaced by four driving members 503, and the driving members 503 are connected to the four jaws 502 in a one-to-one correspondence.
It should be noted that the driving member 503 may be a push rod motor or a hydraulic telescopic cylinder, the end of the driving member 503 is connected to the middle portion of the claw 502, and the connection manner may be a snap-fit structure which is easy to replace, and alternatively, the driving member 503 may also be non-detachable and only relatively rotatable with respect to the claw 502, and when replacing the replacement member 501, only the end of the claw 502 and the locking assembly 600 are detached and replaced.
The structure process of detaching the pawl 502 and the locking assembly 600 is that the first contact block 606b and the second contact block 607b are pushed to two sides separately, so that the first contact block 606b moves in the first top groove 602, the second contact block 607b moves in the second top groove 603, the first insert shaft 606 is drawn out from the trepan boring 502c and is retracted into the first round hole 604, the first pressure spring 606a is further compressed, the second insert shaft 607 is also drawn out from the trepan boring 502c and is retracted into the second round hole 605, and the second pressure spring 607a is further compressed; at the moment, the claw 502 is taken out of the middle-positioned groove 601;
during assembly, the first contact block 606b and the second contact block 607b are pushed towards two sides separately, then the end of the new claw 502 is placed in the middle groove 601, the sleeve hole 502c is positioned corresponding to the first insertion shaft 606 and the second insertion shaft 607, the force to the first contact block 606b and the second contact block 607b is removed, and the first insertion shaft 606 and the second insertion shaft 607 contact with each other towards the middle under the action of the first compression spring 606a and the second compression spring 607a and are inserted into the sleeve hole 502 c.
Taking the first arc block 102 as an example, the crankshaft 402 is disposed in the first curved groove 102a, the end plate 403 is disposed in the first limiting groove 102b, the end of the end plate 403 is disposed with a spring 404 connected to the bottom of the first limiting groove 102b to push the fan plate 401 toward the first arc block 101, and the end plate 403 moves in the first limiting groove 102b and compresses the spring.
Preferably, the angle of the first arc-shaped block 101 is smaller than 90 °, and further, the first arc-shaped block 101 and the two fan plates 401 together form an angle of 90 ° or an angle smaller than 90 °.
The fourth arc 300 has a sector angle of 90 deg., the first and second panels 301 and 302 being located at the centre line of the sector angle.
The invention has the advantages that four or three claws 502 can be uniformly distributed, and the grabbed objects are uniformly stressed.
Specifically, taking the example that four claws are changed into three, after the fourth arc block 300 is withdrawn in the axial direction, under the action of the spring 404, the crankshaft 402 is pushed outward until the fan plates 401 are contacted, if the positions of the second arc block 201 and the third arc block 202 and the first arc block 102 are not uniformly distributed on the whole circumference, because the stiffness coefficients of the spring 404 are the same, the spring 404 will balance the whole, and push the second arc block 201 and the third arc block 202 to move. The second arc-shaped block 201 and the third arc-shaped block 202 are uniformly distributed with the first arc-shaped block 102, that is, three claws thereon can be uniformly distributed, and are correspondingly connected with the second arc-shaped block 201 and the third arc-shaped block 202 with the first arc-shaped block 102.
It is important to note that the construction and arrangement of the present application as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperatures, pressures, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of this invention. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present inventions. Therefore, the present invention is not limited to a particular embodiment, but extends to various modifications that nevertheless fall within the scope of the appended claims.
Moreover, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those unrelated to the presently contemplated best mode of carrying out the invention, or those unrelated to enabling the invention).
It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, without undue experimentation.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (10)
1. The utility model provides a gripper of adjustable jack catch number which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the mechanical arm end part (100) comprises an end shell (101), a cavity (106) is formed in the end shell (101), a supporting shaft (103) is arranged in the middle of the end shell (101), and the supporting shaft (103) and the end shell (101) are coaxially arranged;
the switching assembly (200) comprises a first arc-shaped block (102), a second arc-shaped block (201) and a third arc-shaped block (202), wherein the first arc-shaped block (102) is arranged between the supporting shaft (103) and the end shell (101) and is used for connecting the supporting shaft (103) and the end shell (101);
a side ring groove (104) is formed in the inner wall of the end shell (101) corresponding to the first arc-shaped block (102), and the outer side surfaces of the second arc-shaped block (201) and the third arc-shaped block (202) are embedded in the side ring groove (104);
a fourth arcuate block (300), the fourth arcuate block (203) disposed in the cavity (106);
the clamping assembly (500) comprises a replacement piece (501) and a clamping jaw (502), wherein the clamping jaw (502) is connected with a switching assembly (200) shaft, the replacement piece (501) is connected with the end portion of the end shell (101), and a driving piece (503) is arranged on the replacement piece (501) and connected with the clamping jaw (502).
2. The adjustable jaw count gripper according to claim 1, further comprising: the clamping jaw (502) comprises a connecting section (502a) and a clamping section (502b), the connecting section (502a) and the clamping section (502b) are connected in an obtuse angle, and a trepan boring (502c) is arranged at the end of the connecting section (502 a).
3. The gripper of claim 1 or 2, wherein: the first arc-shaped block (102), the second arc-shaped block (201), the third arc-shaped block (202) and the fourth arc-shaped block (300) are provided with a locking assembly (600), the locking assembly (600) comprises a middle groove (601), a first top groove (602) and a second top groove (603) which are symmetrically arranged on two sides of the middle groove (601), the first top groove (602) is communicated with the middle groove (601) through a first round hole (604), and the second top groove (603) is communicated with the middle groove (601) through a second round hole (605).
4. The adjustable jaw count gripper according to claim 3, wherein: the lock catch assembly (600) further comprises a first inserting shaft (606) and a second inserting shaft (607), the first inserting shaft (606) is arranged in the first round hole (604), and the end part of the first inserting shaft (606) is connected with the end surface of the first top groove (602) through a first pressure spring (606 a);
the second inserting shaft (607) is arranged in the second round hole (605), and the end part of the second inserting shaft (607) is connected with the end surface of the first top groove (602) through a second pressure spring (607 a);
the first insert shaft (606) and the second insert shaft (607) are in end face contact.
5. The adjustable jaw count gripper according to claim 4, wherein: one end of the first inserting shaft (606) is further provided with a first touch block (606b), and the first touch block (606b) is arranged in the first top groove (602);
second plug shaft (607) one end still is provided with second and touches piece (607b), second touch piece (607b) set up in second apical trough (603).
6. The adjustable jaw count gripper according to claim 5, wherein: the end of the connecting section (502a) is arranged in the middle groove (601), and the first inserting shaft (606) and the second inserting shaft (607) are arranged at the end in the sleeve hole (502 c).
7. The gripper with the adjustable number of the jaws as claimed in any one of claims 4 to 6, wherein: second arc piece (201) lateral surface is provided with first outer fishplate bar (201a), third arc piece (202) lateral surface is provided with second outer fishplate bar (202a), first outer fishplate bar (201a) and second outer fishplate bar (202a) set up in side annular groove (104).
8. The adjustable jaw count gripper according to claim 7, wherein: a first curved groove (102a) and a first limiting groove (102b) are formed in the first arc-shaped block (102), and the first curved groove (102a) is communicated with the first limiting groove (102b) and the outside.
9. The adjustable jaw count gripper according to claim 8, wherein: the self-adjusting part (400) comprises a fan plate (401), a crankshaft (402) arranged on the side surface of the fan plate (401), and an end plate (403) arranged at the end part of the crankshaft (402);
the crankshaft (402) is sized to fit the first-curved slot (102a), and the end plate (403) is sized to fit the first limit slot (102 b);
the outer side surface of the fan plate (401) is further provided with a third outer connecting plate (405), and the third outer connecting plate (405) is arranged in the side ring groove (104).
10. The gripper of claim 8 or 9, wherein:
the crankshaft (402) is arranged in the first curved groove (102a), the end plate (403) is arranged in the first limiting groove (102b), and a spring (404) is arranged at the end part of the end plate (403) and connected with the inner bottom of the first limiting groove (102 b).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011425320.3A CN112643695B (en) | 2020-12-09 | 2020-12-09 | Mechanical gripper capable of adjusting number of clamping jaws |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011425320.3A CN112643695B (en) | 2020-12-09 | 2020-12-09 | Mechanical gripper capable of adjusting number of clamping jaws |
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| CN112643695A true CN112643695A (en) | 2021-04-13 |
| CN112643695B CN112643695B (en) | 2021-11-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011425320.3A Active CN112643695B (en) | 2020-12-09 | 2020-12-09 | Mechanical gripper capable of adjusting number of clamping jaws |
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Cited By (1)
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| CN113701016A (en) * | 2021-08-18 | 2021-11-26 | 广东南方日报展示有限公司 | Multi-functional exhibition room is with multi-media delivery system |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN112643695B (en) | 2021-11-26 |
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Effective date of registration: 20230821 Address after: 230000 b-1018, Woye Garden commercial office building, 81 Ganquan Road, Shushan District, Hefei City, Anhui Province Patentee after: HEFEI WISDOM DRAGON MACHINERY DESIGN Co.,Ltd. Address before: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee before: Dragon totem Technology (Hefei) Co.,Ltd. Effective date of registration: 20230821 Address after: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Dragon totem Technology (Hefei) Co.,Ltd. Address before: 241002 No.16, Wenjin West Road, Yijiang District, Wuhu City, Anhui Province Patentee before: ANHUI TECHNICAL College OF MECHANICAL AND ELECTRICAL ENGINEERING |